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Force Sensor-Based Linear Actuator Stiffness Rendering Control

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14270))

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Abstract

Different stiffness on the actuator can broaden its range of applications and improve its motion control performance. Precise stiffness rendering is advantageous for improving collision safety. However, there are mechanical impedance and friction, which will affect system stiffness. This study applies a force sensor to measure them directly and compensate them by the motor. To make the actuator exhibit ideal stiffness, a PD controller is introduced for stiffness rendering. Simulation and experimental results verify that this method can accurately render stiffness less than the mechanical stiffness for parallel-structured linear actuators.

This work was supported by the Key Research and Development Program of Zhejiang Province (2022C01096, 2022C01101), and in part by the Ningbo Key Project of Scientific and Technological Innovation 2025 (2022Z067, 2021Z068, 2021Z128).

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Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China

    Han Chen

  2. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, CAS, Ningbo, 315201, China

    Han Chen, Junjie Dai, Chin-Yin Chen & Yongfeng An

  3. Ningbo Zhongda Leader Intelligent Transmission Co., Ltd., Ningbo, China

    Bing Huang

Authors
  1. Han Chen
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  2. Junjie Dai
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  3. Chin-Yin Chen
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  4. Yongfeng An
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  5. Bing Huang
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Corresponding author

Correspondence to Chin-Yin Chen .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Chen, H., Dai, J., Chen, CY., An, Y., Huang, B. (2023). Force Sensor-Based Linear Actuator Stiffness Rendering Control. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_15

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  • DOI: https://doi.org/10.1007/978-981-99-6492-5_15

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6491-8

  • Online ISBN: 978-981-99-6492-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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